From d0e54eeead927f61338f48bd0770f0a9cae30266 Mon Sep 17 00:00:00 2001
From: willitcode <91231142+willitcode@users.noreply.github.com>
Date: Thu, 1 Feb 2024 17:49:53 -0600
Subject: [PATCH] add some sparkmaxes :)

---
 src/main/java/frc/robot/Robot.java | 89 +++++++++++++++++++++++++++++-
 vendordeps/REVLib-2024.json        | 74 +++++++++++++++++++++++++
 2 files changed, 162 insertions(+), 1 deletion(-)
 create mode 100644 vendordeps/REVLib-2024.json

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 5daa650..b07d5e6 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -11,6 +11,9 @@
 
 package frc.robot;
 
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.CANSparkMax;
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
@@ -26,7 +29,9 @@
 public class Robot extends TimedRobot {
   public DoubleSolenoid solenoid1;
   public DoubleSolenoid solenoid2;
-  public XboxController controller;
+  public static XboxController controller;
+  public CANSparkMax sparkMax1;
+  public CANSparkMax sparkMax2;
 
   /**
    * This function is run when the robot is first started up and should be used for any
@@ -37,6 +42,8 @@ public void robotInit() {
     solenoid1 = new DoubleSolenoid(PneumaticsModuleType.CTREPCM, 6, 7);
     solenoid2 = new DoubleSolenoid(PneumaticsModuleType.CTREPCM, 4, 5);
     controller = new XboxController(0);
+    sparkMax1 = new CANSparkMax(1, MotorType.kBrushless);
+    sparkMax2 = new CANSparkMax(2, MotorType.kBrushless);
   }
 
   /**
@@ -83,6 +90,9 @@ public void teleopPeriodic() {
       solenoid1.set(Value.kOff);
       solenoid2.set(Value.kOff);
     }
+
+    sparkMax1.set(getScaledControllerLeftYAxis());
+    sparkMax2.set(getScaledControllerRightYAxis());
   }
 
   /** This function is called once when the robot is disabled. */
@@ -108,4 +118,81 @@ public void simulationInit() {}
   /** This function is called periodically whilst in simulation. */
   @Override
   public void simulationPeriodic() {}
+
+  private static double scaleAxis(double axis) {
+    double deadbanded = MathUtil.applyDeadband(axis, 0.1);
+    return Math.pow(deadbanded, 3);
+  }
+
+  /**
+   * Gets x-axis of left stick of driver controller.
+   *
+   * @return x-axis of left stick of driver controller.
+   */
+  public static double getControllerLeftXAxis() {
+    return controller.getLeftX();
+  }
+
+  /**
+   * Gets scaled x-axis of left stick of driver controller.
+   *
+   * @return scaled x-axis of left stick of driver controller.
+   */
+  public static double getScaledControllerLeftXAxis() {
+    return scaleAxis(getControllerLeftXAxis());
+  }
+
+  /**
+   * Gets y-axis of left stick of driver controller.
+   *
+   * @return y-axis of left stick of driver controller.
+   */
+  public static double getControllerLeftYAxis() {
+    return controller.getLeftY();
+  }
+
+  /**
+   * Gets scaled y-axis of left stick of driver controller.
+   *
+   * @return scaled y-axis of left stick of driver controller.
+   */
+  public static double getScaledControllerLeftYAxis() {
+    return scaleAxis(getControllerLeftYAxis());
+  }
+
+  /**
+   * Gets x-axis of right stick of driver controller.
+   *
+   * @return x-axis of right stick of driver controller.
+   */
+  public static double getControllerRightXAxis() {
+    return controller.getRightX();
+  }
+
+  /**
+   * Gets scaled x-axis of right stick of driver controller.
+   *
+   * @return scaled x-axis of right stick of driver controller.
+   */
+  public static double getScaledControllerRightXAxis() {
+    return scaleAxis(getControllerRightXAxis());
+  }
+
+  /**
+   * Gets y-axis of right stick of driver controller.
+   *
+   * @return y-axis of right stick of driver controller.
+   */
+  public static double getControllerRightYAxis() {
+    return controller.getRightY();
+  }
+
+  /**
+   * Gets scaled y-axis of right stick of driver controller.
+   *
+   * @return scaled y-axis of right stick of driver controller.
+   */
+  public static double getScaledControllerRightYAxis() {
+    return scaleAxis(getControllerRightYAxis());
+  }
 }
diff --git a/vendordeps/REVLib-2024.json b/vendordeps/REVLib-2024.json
new file mode 100644
index 0000000..f7c8225
--- /dev/null
+++ b/vendordeps/REVLib-2024.json
@@ -0,0 +1,74 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2024.2.0",
+    "frcYear": "2024",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2024.2.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.0",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2024.2.0",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.0",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}